LIST P=18F258 ;directive to define processor #include ;processor specific variable definitions ;****************************************************************************** ;Configuration bits CONFIG OSC = ECIO ;HS Oscillator Selection config OSCS = OFF ;Osc. Switch Enable: CONFIG PWRT = ON ;Enabled ;Power-up Timer: CONFIG BOR = OFF ;Disabled ; Brown out Reset CONFIG WDT = OFF ;Disabled Watchdog Timer CONFIG LVP = OFF ;Disabled Low Voltage ICSP ;****************************************************************************** ;Variable definitions ; These variables are only needed if low priority interrupts are used. CBLOCK 0x060 WREG_TEMP ;variable used for context saving STATUS_TEMP ;variable used for context saving BSR_TEMP ;variable used for context saving ENDC CBLOCK 0x000 EXAMPLE ;example of a variable in access RAM ENDC ;****************************************************************************** ;Reset vector ORG 0x0000 goto Main ;go to start of main code ;****************************************************************************** ;High priority interrupt vector ; This code will start executing when a high priority interrupt occurs or ; when any interrupt occurs if interrupt priorities are not enabled. ORG 0x0008 bra HighInt ;go to high priority interrupt routine ;****************************************************************************** ;Low priority interrupt vector and routine ; This code will start executing when a low priority interrupt occurs. ; This code can be removed if low priority interrupts are not used. ORG 0x0018 movff STATUS,STATUS_TEMP ;save STATUS register movff WREG,WREG_TEMP ;save working register movff BSR,BSR_TEMP ;save BSR register ; *** low priority interrupt code goes here *** movff BSR_TEMP,BSR ;restore BSR register movff WREG_TEMP,WREG ;restore working register movff STATUS_TEMP,STATUS ;restore STATUS register retfie ;****************************************************************************** ;High priority interrupt routine ; The high priority interrupt code is placed here to avoid conflicting with ; the low priority interrupt vector. HighInt: ; *** high priority interrupt code goes here *** retfie FAST ;****************************************************************************** ;Start of main program Main: Start ;Intialisierung Port A auf ausgang movlw B'00000000' ; PortA alle Output movwf TRISA clrf PORTA ; alle ausschalten MOVLW 07h MOVWF ADCON1 ;Wichtig nur 07h macht alle pins Digital siehe Tabelle in PIC Lastenheft ;Intialisierung Port B auf ausgang movlw B'00000000' ; PortB alle output movwf TRISB clrf PORTB ; alle ausschalten ;Intialisierung Port C auf ausgang movlw B'00000000' ; PortC alle output movwf TRISC clrf PORTC ; Unterprogramm Verteiler call CAN_CONFIG call init_Normal_mode Call Sender ;XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX CAN_CONFIG BSF TRISB,3 ;RX PIN =1 BCF TRISB,2 ;TX PIN =0 ; Request Configuration mode. MOVLW B'10000000' ; Set to Configuration Mode. MOVWF CANCON ConfigWait MOVF CANSTAT, W ; Read current mode state. ANDLW B'11100000' ; Interested in OPMODE bits only. BTFSS WREG,7 ; Is it Configuration mode yet? BRA ConfigWait ; No. Continue to wait... ;Bautraten Register Bits: MOVLW 01h ; 01 Oszi 10mhz, 100kbit CAN MOVWF BRGCON1 ; MOVLW 3Fh ; 3f Oszi 10mhz, 100kbit CAN MOVWF BRGCON2 ; MOVLW 07h ; 07 Oszi 10mhz, 100kbit CAN MOVWF BRGCON3 ; MOVLW 20h MOVWF CIOCON ; Ausgänge Aktivieren return ; Zurück zum Unterprogramm Verteiler ;XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX init_Normal_mode MOVLW B'00001000' ; Set to Normal_mode. MOVWF CANCON NormalWait ;Warten bis Normal_mode erreicht... MOVF CANSTAT, W ; Read current mode state. ANDLW B'11100000' ; Interested in OPMODE bits only. BTFSC WREG,7 ; Is it Normal mode yet? Bit7=0 BRA NormalWait ; No. Continue to wait... MOVF CANSTAT, W ; Read current mode state. ANDLW B'11100000' ; Interested in OPMODE bits only. BTFSC WREG,6 ; Is it Normal mode yet? Bit6=0 BRA NormalWait ; No. Continue to wait... MOVF CANSTAT, W ; Read current mode state. ANDLW B'11100000' ; Interested in OPMODE bits only. BTFSC WREG,5 ; Is it Configuration mode yet? Bit5=0 BRA NormalWait ; No. Continue to wait... return ;Normal Mode ereicht, zurück zum Unterprogramm Verteiler ;XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX ;Senden Puffer 0 Sender MOVLW 0Fh ;Auf Bank 15 ,die Bank Änderung für CAN Register MOVWF BSR ; Sende ID Festlegen z.b. 130h ; Senden von Daten Sendepuffer 0 TXB0SIDH (High) ; Id Adresse bit 10, 9, 8, 7, 6, 5, 4 ,3 ; Bit in Register B` 7 6 5 4 3 2 1 0' movlw B'00100110' movwf TXB0SIDH ; Sende ID Festlegen ; Senden von Daten Sendepuffer 0 TXB0SIDL (Low) ; Id Adresse bit X X X 2,1,0 ; Unbenutzt 4,2 X X TBD=0 ; Bit3 X 1=Extended ID 0=Standard Id ; BIT 1, 0 X X Extended ID Bit 17 und 16 ; Bit in Register B` 7 6 5 4 3 2 1 0' movlw B'00000000' movwf TXB0SIDL ;TXB0DLC Transmit Buffer DLC und TXRTR(Remote) Bit ;7 6 5 4 3 2 1 ;X X X TBD=0 ; X TXRTR Bit in CAN Botschaft= Remote Botschaft, Default=0 ; x x x x DLC in Bin, max 8 byte '1000' movlw b'00000101' ; DLC=5 kein Remote movwf TXB0DLC ;Nutzlast CAN Botschaft 05 00 00 00 00 ;TXB0D0 =Nutzinformation ; X =Sendepuffer 0 bis 2 ; X =Welches nutzbyte 0 bis 7 movlw 05h movwf TXB0D0 movlw 00h movwf TXB0D1 movlw 00h movwf TXB0D2 movlw 00h movwf TXB0D3 movlw 00h movwf TXB0D4 movlw 00h movwf TXB0D5 ;Das Senden auslösen ;BSF TXB0CON,3 ;Bit fürs senden setzen +Hohe Sende Prio MOVLW 0bh MOVWF TXB0CON MOVLW 00h ;Auf Bank 0 Umschalten für Warteschleife MOVWF BSR CALL Wait; 10ms Warten (10* 1ms) CALL Wait CALL Wait CALL Wait CALL Wait CALL Wait CALL Wait CALL Wait CALL Wait CALL Wait goto Sender ;Neuer Sendecyle ;XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX ; Warteschleife 1 ms ; @10 MHZ Wait movlw .249 ; Zeitkonstante für 1ms gleich 249 Runden movwf 0x21 Wai2 nop nop nop nop nop nop nop decfsz 0x21, F ; 1 ms vorbei? Bei Null sprung zu retlw 0 goto Wai2 ; retlw 0 ; das Warten hat ein Ende ;****************************************************************************** ;End of program END